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Tasks on seen objects: 6D localization of seen objects 2D detection of seen objects 2D segmentation of seen objects
Tasks on unseen objects: 6D localization of unseen objects 2D detection of unseen objects 2D segmentation of unseen objects
Datasets: Core datasets LM LM-O T-LESS ITODD HB HOPE YCB-V RU-APC IC-BIN IC-MI TUD-L TYO-L

6D localization of unseen objects – Core datasets

This leaderbord shows the overall ranking for Task 4 on the core datasets (LM-O, T-LESS, TUD-L, IC-BIN, ITODD, HB, YCB-V). For each method, the date of the latest considered submission is reported. If more submissions of a method are available for a dataset, the submission with the highest ARCore score is considered. The reported time is the average image processing time averaged over the core datasets.

Date (UTC) Method Test image ARCore ARLM-O ART-LESS ARTUD-L ARIC-BIN ARITODD ARHB ARYCB-V Time (s)
2023-11-02 MegaPose-CNOS_fastSAM+CoarseBest RGB 0.208 0.229 0.177 0.258 0.152 0.108 0.251 0.281 15.465
2024-03-04 SAM6D-ZeroPose RGB-D 0.622 0.635 0.430 0.802 0.518 0.484 0.691 0.792 5.482
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Te... RGB-D 0.623 0.620 0.485 0.846 0.462 0.460 0.725 0.764 116.564
2023-11-12 SMC-0.5s-CNOS D 0.433 0.512 0.415 0.511 0.290 0.358 0.538 0.403 2.992
2023-11-12 SMC-1.0s-CNOS D 0.475 0.558 0.423 0.599 0.316 0.389 0.585 0.454 6.051
2023-09-26 GenFlow-coarse RGB 0.235 0.250 0.215 0.300 0.168 0.154 0.283 0.277 3.839
2023-09-25 GenFlow-MultiHypo RGB-D 0.662 0.622 0.509 0.849 0.524 0.544 0.770 0.818 21.457
2023-09-26 GenFlow-MultiHypo-RGB RGB 0.570 0.563 0.523 0.684 0.453 0.395 0.739 0.633 20.890
2024-02-28 GigaPose RGB 0.268 0.296 0.264 0.300 0.223 0.175 0.341 0.278 0.384
2024-03-04 SAM6D-FastSAM RGB-D 0.662 0.667 0.485 0.829 0.510 0.572 0.736 0.834 1.426
2024-02-28 GigaPose+MegaPose (1 hypothesis) RGB 0.547 0.557 0.541 0.580 0.450 0.376 0.693 0.632 2.301
2023-11-30 GigaPose+GenFlow (5 hypothesis) RGB 0.605 0.631 0.582 0.664 0.498 0.453 0.756 0.652 10.637
2023-11-30 GigaPose+GenFlow+kabsch RGB-D 0.686 0.678 0.556 0.811 0.563 0.575 0.791 0.825 11.140
2023-09-27 ZeroPose-Multi-Hypo-Refinement RGB-D 0.534 0.493 0.342 0.790 0.396 0.465 0.629 0.623 18.971
2024-01-29 FoundPose+FeatRef+Megapose RGB 0.550 0.556 0.511 0.633 0.433 0.357 0.697 0.661 6.385
2024-03-04 SAM6D-CNOSfastSAM RGB-D 0.653 0.651 0.479 0.825 0.497 0.562 0.738 0.815 1.254
2023-11-19 FoundationPose(NVIDIA) RGB-D 0.726 0.733 0.617 0.906 0.528 0.609 0.809 0.882
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp-10 RGB 0.549 0.560 0.508 0.687 0.419 0.346 0.706 0.620 53.878
2023-09-28 SAM6D-BOP2023-CNOSmask RGB-D 0.616 0.648 0.483 0.794 0.504 0.351 0.727 0.804 3.872
2023-09-27 ZeroPose-Multi-Hypo-Refinement-De... RGB-D 0.570 0.538 0.400 0.835 0.392 0.521 0.653 0.653 16.168
2023-09-27 Megapose-CNOS_fastSAM+Multihyp_Te... RGB-D 0.628 0.626 0.487 0.851 0.467 0.468 0.730 0.764 141.965
2024-02-28 GigaPose+MegaPose (5 hypothesis) RGB 0.578 0.598 0.565 0.631 0.473 0.397 0.722 0.661 7.682
2024-01-29 FoundPose+MegaPose RGB 0.547 0.554 0.510 0.633 0.430 0.346 0.695 0.661 4.398
2023-09-28 GenFlow-MultiHypo16 RGB-D 0.674 0.635 0.521 0.862 0.534 0.554 0.779 0.833 34.578
2023-08-22 ZeroPose-One-Hypo RGB-D 0.348 0.272 0.156 0.536 0.307 0.362 0.462 0.341 9.756
2024-01-22 SAM6D RGB-D 0.704 0.699 0.515 0.904 0.588 0.602 0.776 0.845 4.367
2024-01-27 FoundPose+FeatRef+Megapose-5hyp RGB 0.596 0.610 0.570 0.693 0.479 0.407 0.723 0.690 20.523
2024-01-28 FoundPose-Coarse RGB 0.373 0.397 0.338 0.469 0.239 0.204 0.508 0.452 1.690
2024-01-29 FoundPose+FeatRef RGB 0.426 0.395 0.396 0.567 0.283 0.262 0.585 0.497 2.648
2023-09-04 MegaPose-CNOS_fastSAM RGB 0.509 0.499 0.477 0.653 0.367 0.315 0.654 0.601 31.724
2023-09-26 Megapose-CNOS_fastSAM+MultiHyp RGB 0.547 0.560 0.507 0.684 0.414 0.338 0.704 0.621 47.386
2023-10-18 GenFlow-MultiHypo16-RGB RGB 0.576 0.572 0.528 0.688 0.458 0.398 0.746 0.642 40.528

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